Gait Planning and Analysis of Amphibious Turtle Inspired Robot

RUI Hongbin; LI Lulu; CAO Wei

doi:10.13433/j.cnki.1003-8728.20200571

Volume 42 Issue 1

Jan. 2023

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Article Navigation > Mechanical Science and Technology for Aerospace Engineering > 2023 > 42(1): 46-52

RUI Hongbin, LI Lulu, CAO Wei. Gait Planning and Analysis of Amphibious Turtle Inspired Robot[J]. Mechanical Science and Technology for Aerospace Engineering, 2023, 42(1): 46-52. doi: 10.13433/j.cnki.1003-8728.20200571

Citation:

RUI Hongbin, LI Lulu, CAO Wei. Gait Planning and Analysis of Amphibious Turtle Inspired Robot[J]. Mechanical Science and Technology for Aerospace Engineering, 2023, 42(1): 46-52. doi: 10.13433/j.cnki.1003-8728.20200571

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Gait Planning and Analysis of Amphibious Turtle Inspired Robot

doi: 10.13433/j.cnki.1003-8728.20200571

School of Mechanical and Precision Instrument engineering, Xi′an University of Technology, Xi′an 710048, China

Received Date: 2021-01-22
Publish Date: 2023-01-25

Abstract

Abstract

In order to solve the problems such as difficulty in moving and poor stability of the dredging robot, a kind of amphibious turtle inspired robot was designed by referring to the body structure and crawling movement of turtles. Based on the introduction of the structure of the robot, the D-H method was used to analyze the kinematics of the robot, and the transformation matrix and kinematics equation of the leg were established and solved. Two kinds of crawling gaits were planned. According to the robot structure, the travel space of the electric push cylinder was planned, and the foot trajectory and crawling gait were optimized. The motion simulation was carried out in ADAMS, and the curves of displacement and velocity of the airframe were analyzed. The results show that the optimized gait can greatly improve the crawling speed and stability of the robot.
- turtle inspired robot,
- kinematics analysis,
- D-H method,
- gait planning,
- trajectory planning,
- ADAMS

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References(15)

References

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